A T-S fuzzy model with two rules is established to exactly describe the nonlinear uncertain heave dynamics of underwater vehicles with bounded heave speed. A single linear-matrix-inequality-based (LMI-based) state feedback controller is then synthesized to guarantee the global stability of the depth control system. Simulation results verify the effectiveness of the proposed approach in comparison with linear-quadratic regulator (LQR) method. Nonlinear disturbance observer is appended to the system when the underwater vehicles are affected by the gravity-buoyancy imbalance. The two-stage control method is effective to stabilize an uncertain system with both parameter uncertainties and external disturbances.
QIAN Yuan, FENG Zhengping, BI Anyuan, LIU Weiqi. T-S Fuzzy Model-Based Depth Control of Underwater Vehicles[J]. Journal of Shanghai Jiaotong University(Science), 2020, 25(3): 315-324. DOI: 10.1007/s12204-020-2165-4
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